제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.1136-1139
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- 1996
Locally optimal trajectory planning for redundant robot manipulators-approach by manipulability
여유 자유도 로봇의 국부 최적 경로 계획
- Published : 1996.10.01
Abstract
For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.
Keywords
- manipulability;
- redundant robot manipulator;
- manipulability ellipsoid;
- polytope;
- impact;
- optimal trajectory planning